Implement In-Rust Version of Proof Satisfaction

[cronokirby]

This is a follow up to #3563. After doing that, it becomes easy to write a function which implements the function of type Public x Private -> 01 representing the relation the proof is checking. This then makes the test of circuit logic very simple, since we just need to check that for inputs we generate, the rust code agrees with the circuit.

We should add such a function to each circuit, and modify our tests to use it.

Circuits that need to be changed:

• Spend
• Output
• DelegatorVote
• UndelegateClaim
• Swap
• SwapClaim
• NullifierDerivation